CN106323342B - The high-precision outbound course of airborne scanner axis of rotation - Google Patents
The high-precision outbound course of airborne scanner axis of rotation Download PDFInfo
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- CN106323342B CN106323342B CN201610951407.1A CN201610951407A CN106323342B CN 106323342 B CN106323342 B CN 106323342B CN 201610951407 A CN201610951407 A CN 201610951407A CN 106323342 B CN106323342 B CN 106323342B
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- plane mirror
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to air remote sensing technical field of imaging, and in particular to a kind of high-precision outbound course of airborne scanner axis of rotation.Compared with the prior art, the invention has the advantages that: (1) using fictitious load so that scanner is obtained continuous rotary ability, it is overlapped by adjusting shaft end plane mirror normal with axis, by sightless axis of rotation hypostazation, available measurement equipment is directly measured；(2) axis of rotation is led on prism square, shaft end plane face mirror is removed, and is reduced scanner axial dimension, is conducive to the flying platform adaptability of device miniaturization and scanner；(3) it is high to draw precision for axis of rotation: fictitious load weight is identical as camera, is consistent when scanner rotary state is with installation camera；Shaft end plane mirror, prism square itself precision are rad grade, and autocollimator, transit survey precision are rad grade, and comprehensive error of drawing can reach rad grade.
Description
Technical field
The invention belongs to air remote sensing technical field of imaging, and in particular to a kind of high-precision of airborne scanner axis of rotation
Outbound course.
Background technique
When airborne scanner carries out sweeping imaging to ground scenery, camera carries out big angle around axis of rotation inside scanner
Degree rotation, therefore the axis of rotation of scanner is optical system movement benchmark, the angle of axis of rotation and the optical axis, which directly affects, to be swept
Image position accuracy is retouched, calibration compensation need to be carried out.Therefore the axis of rotation of two kinematic axis of scanner need to accurately be drawn, as
The geometric calibration benchmark of camera.
Common axis of rotation outbound course is to install one piece of plane mirror in the shaft end of kinematic axis, using autocollimator to this
Plane mirror carries out alignment measurement, and continuous rotary one week, the normal revolution average line direction of plane mirror was axis of rotation side at this time
To.The cornering rate that this method requires kinematic axis at least to have one week.
Since airborne scanner space layout is nervous, cramped construction is mostly used, does not have continuous rotary ability, and by
Shaft end outlet influences, and plane mirror installation is affected.Therefore it cannot function as benchmark when camera geometric calibration.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is a kind of high-precision rotary axis outbound course how is provided, by rotating shaft
Line direction is led on benchmark prism square, can be used as the geometric calibration benchmark of camera, provides guarantor for airborne scanner geometric calibration
Card.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of high-precision outbound course of airborne scanner axis of rotation,
This method is implemented based on axis of rotation ejector；
For the axis of rotation ejector, scanner (2) is fixed on support base (1) by horizontal direction, mould
Quasi- load (3) is mounted on scanner (2) inside, and outline border shaft end plane mirror (4) and the outline border rotating shaft of scanner (2) are connected, interior
Frame shaft end plane mirror (5) and the inside casing rotating shaft of scanner (2) are connected, the first autocollimator (6) and outline border shaft end plane mirror (4)
In same level, the second autocollimator (7) and inner axis transverse plane mirror (5) are in same level, benchmark cube
Mirror (8) is mounted on support base (1)；Fictitious load (3), outline border shaft end plane mirror (4), inner axis transverse plane mirror (5), first are certainly
Collimator (6), the second autocollimator (7), benchmark prism square (8), frist theodolite (9), second theodolite (10) composition revolution
Axis ejector；
Based on the axis of rotation ejector, the high-precision outbound course includes the following steps:
Step 1: the installation and adjustment of shaft end plane mirror；The step includes:
Step 101: removing camera and wear axis cable, install fictitious load (3), scanner (2) is enable to have continuous rotary
Power and plane mirror installation space；
Step 102: outline border shaft end plane mirror (4) being installed on scanner (2) outline border rotating shaft and are returned in scanner (2) inside casing
Inner axis transverse plane mirror (5) are installed in shaft, it is flat using the revolution of the first autocollimator (6) measurement outline border shaft end plane mirror (4)
Equal line utilizes the revolution average line of the second autocollimator (7) measurement inner axis transverse plane mirror (5)；
Step 103: adjusting separately the posture of outline border shaft end plane mirror (4), inner axis transverse plane mirror (5), make outline border shaft end
Plane mirror (4), inner axis transverse plane mirror (5) are respectively overlapped with the revolution average line of corresponding rotating shaft；
Step 2: the alignment of benchmark prism square normal and plane mirror normal；The step includes:
Step 201: the reference for installation prism square (8) on support base (1) is flat to outline border shaft end using second theodolite (10)
Face mirror (4) carries out alignment measurement, carries out alignment measurement using first mirror surface of the frist theodolite (9) to benchmark prism square (8)；The
One theodolite (9) is mutually taken aim at second theodolite (10), and the normal of the first mirror surface of calculating benchmark prism square (8) and outline border shaft end are flat
The angle of face mirror (4)；Adjustment benchmark prism square (8) Installation posture makes the normal and outline border shaft end plane mirror (4) of its first mirror surface
Normal is overlapped；
Step 202: scanner (2) is locked in zero-bit；
Step 203: the position of mobile frist theodolite (9) and second theodolite (10), it is right using second theodolite (10)
Inner axis transverse plane mirror (5) carries out alignment measurement, is carried out using second mirror surface of the frist theodolite (9) to benchmark prism square (8)
Alignment measurement；Frist theodolite (9) is mutually taken aim at second theodolite (10), the normal of the second mirror surface of calculating benchmark prism square (8)
With the angle of inner axis transverse plane mirror (5)；Adjustment benchmark prism square (8) Installation posture makes the normal and inner axis of its second mirror surface
Transverse plane mirror (5) normal is overlapped.
(3) beneficial effect
Compared with the prior art, the invention has the advantages that:
(1) scanner is made to obtain continuous rotary ability using fictitious load, by adjusting shaft end plane mirror normal and axis
It is overlapped, by sightless axis of rotation hypostazation, available measurement equipment is directly measured；
(2) axis of rotation is led on prism square, shaft end plane face mirror is removed, and reduces scanner axial dimension, has
Conducive to device miniaturization and the flying platform adaptability of scanner；
(3) it is high to draw precision for axis of rotation: fictitious load weight is identical as camera, scanner rotary state and installation camera
When be consistent；Shaft end plane mirror, prism square itself precision are rad grade, and autocollimator, transit survey precision are rad grade,
Comprehensive error of drawing can reach rad grade.
Detailed description of the invention
Fig. 1 is plane mirror installation in shaft end of the present invention and adjustment schematic diagram；Has company in the case of scanner installation fictitious load
Continuous cornering rate measures axis of rotation direction, Calculation Plane mirror normal direction and axis of rotation angular separation using autocollimator,
Adjustment plane mirror normal is overlapped with axis of rotation direction.
Fig. 2 is the alignment schematic diagram of benchmark prism square normal Yu plane mirror normal.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
In order to solve the above technical problems, the present invention provides a kind of high-precision outbound course of airborne scanner axis of rotation,
It is mutually perpendicular to normal to a surface direction with two of benchmark prism square and represents two axis of rotation directions of scanner；Such as Fig. 1, figure
Shown in 2, this method is implemented based on axis of rotation ejector；
For the axis of rotation ejector, scanner 2 is fixed on support base 1 by horizontal direction, and simulation is negative
It carries 3 to be mounted on inside scanner 2, the outline border rotating shaft of outline border shaft end plane mirror 4 and scanner 2 is connected, inner axis transverse plane mirror 5
It being connected with the inside casing rotating shaft of scanner 2, the first autocollimator 6 is in same level with outline border shaft end plane mirror 4, and second
Autocollimator 7 and inner axis transverse plane mirror 5 are in same level, and benchmark prism square 8 is mounted on support base 1；Simulation is negative
Carry 3, outline border shaft end plane mirror 4, inner axis transverse plane mirror 5, the first autocollimator 6, the second autocollimator 7, benchmark prism square 8,
Frist theodolite 9, second theodolite 10 form axis of rotation ejector；
Based on the axis of rotation ejector, the high-precision outbound course includes the following steps:
Step 1: the installation and adjustment of shaft end plane mirror；The step includes:
Step 101: remove camera and wear axis cable, fictitious load 3 is installed, make scanner 2 have continuous rotary ability and
Plane mirror installation space；
Step 102: outline border shaft end plane mirror 4 being installed on 2 outline border rotating shaft of scanner on 2 inside casing rotating shaft of scanner
Inner axis transverse plane mirror 5 is installed, using the revolution average line of the first autocollimator 6 measurement outline border shaft end plane mirror 4, utilizes second
The revolution average line of the measurement inner axis transverse plane mirror 5 of autocollimator 7；
Step 103: adjusting separately the posture of outline border shaft end plane mirror 4, inner axis transverse plane mirror 5, make outline border shaft end plane
Mirror 4, inner axis transverse plane mirror 5 are respectively overlapped with the revolution average line of corresponding rotating shaft；
Step 2: the alignment of benchmark prism square normal and plane mirror normal；The step includes:
Step 201: the reference for installation prism square 8 on support base 1, using second theodolite 10 to outline border shaft end plane mirror 4
Alignment measurement is carried out, carries out alignment measurement using first mirror surface of the frist theodolite 9 to benchmark prism square 8；Frist theodolite 9 with
Second theodolite 10 is mutually taken aim at, the normal of the first mirror surface of calculating benchmark prism square 8 and the angle of outline border shaft end plane mirror 4；Adjustment
8 Installation posture of benchmark prism square is overlapped the normal of its first mirror surface with 4 normal of outline border shaft end plane mirror；
Step 202: scanner 2 is locked in zero-bit；
Step 203: the position of mobile frist theodolite 9 and second theodolite 10, using second theodolite 10 to inner axis
Transverse plane mirror 5 carries out alignment measurement, carries out alignment measurement using second mirror surface of the frist theodolite 9 to benchmark prism square 8；First
Theodolite 9 is mutually taken aim at second theodolite 10, normal and the inner axis transverse plane mirror 5 of the second mirror surface of calculating benchmark prism square 8
Angle；Adjustment 8 Installation posture of benchmark prism square is overlapped the normal of its second mirror surface with 5 normal of inner axis transverse plane mirror.
Specifically, above-mentioned implementation process can be described in detail as follows:
(1) as shown in Figure 1, installing fictitious load 3 on 1 inside casing of scanner, drive its outline border axle position in 0 °, 180 ° two
Position records the degree (α of the first autocollimator 6, the second autocollimator 7 respectively1, β1)、(α2, β2).Driving outline border axis returns to zero
Position adjusts 4 Installation posture angle of outline border shaft end plane mirror, makes the degree of the first autocollimator 6, the second autocollimator 7 be respectively
(2) as shown in Fig. 2, on reference for installation prism square 8 to support base 1, using frist theodolite 9 to benchmark prism square 8
The first mirror surface carry out alignment measurement, record 9 degree of frist theodoliteUsing second theodolite 10 to outline border axis
Transverse plane mirror 4 carries out alignment measurement, records 10 degree of second theodoliteAfter the completion of above-mentioned two step, frist theodolite
9, second theodolite 10 is mutually taken aim at measurement, records 9 degree of frist theodolite10 degree of second theodolite8 Installation posture of benchmark prism square is adjusted, rotates benchmark prism square along the vertical axis of the first mirror surfaceTrunnion axis along the first mirror surface rotates
(3) similarly, the position of mobile frist theodolite 9 and second theodolite 10, using frist theodolite 9 to benchmark cube
Second mirror surface of mirror 8 carries out alignment measurement, records 9 degree of frist theodoliteUsing second theodolite 10 to inside casing
Shaft end plane mirror 5 carries out alignment measurement, records 10 degree of second theodoliteAfter the completion of above-mentioned two step, the first longitude and latitude
Instrument 9 and second theodolite 10 are mutually taken aim at measurement, record 9 degree of frist theodolite10 degree of second theodolite8 Installation posture of benchmark prism square is adjusted, rotates benchmark prism square 8 along the trunnion axis of the second mirror surface
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of high-precision outbound course of airborne scanner axis of rotation, which is characterized in that this method is drawn based on axis of rotation
Device is implemented out；
For the axis of rotation ejector, scanner (2) is fixed on support base (1) by horizontal direction, and simulation is negative
It carries (3) and is mounted on scanner (2) inside, outline border shaft end plane mirror (4) and the outline border rotating shaft of scanner (2) are connected, inner axis
Transverse plane mirror (5) and the inside casing rotating shaft of scanner (2) are connected, and the first autocollimator (6) is in outline border shaft end plane mirror (4)
In same level, the second autocollimator (7) and inner axis transverse plane mirror (5) are in same level, benchmark prism square (8)
It is mounted on support base (1)；Fictitious load (3), outline border shaft end plane mirror (4), inner axis transverse plane mirror (5), the first auto-collimation
Instrument (6), the second autocollimator (7), benchmark prism square (8), frist theodolite (9), second theodolite (10) form axis of rotation
Ejector；
Based on the axis of rotation ejector, the high-precision outbound course includes the following steps:
Step 1: the installation and adjustment of shaft end plane mirror；The step includes:
Step 101: remove camera and wear axis cable, install fictitious load (3), make scanner (2) have continuous rotary ability and
Plane mirror installation space；
Step 102: outline border shaft end plane mirror (4) being installed on scanner (2) outline border rotating shaft, are turned round in scanner (2) inside casing
Inner axis transverse plane mirror (5) are installed on axis, it is average using the revolution of the first autocollimator (6) measurement outline border shaft end plane mirror (4)
Line utilizes the revolution average line of the second autocollimator (7) measurement inner axis transverse plane mirror (5)；
Step 103: adjusting separately the posture of outline border shaft end plane mirror (4), inner axis transverse plane mirror (5), make outline border shaft end plane
Mirror (4), inner axis transverse plane mirror (5) are respectively overlapped with the revolution average line of corresponding rotating shaft；
Step 2: the alignment of benchmark prism square normal and plane mirror normal；The step includes:
Step 201: the reference for installation prism square (8) on support base (1), using second theodolite (10) to outline border shaft end plane mirror
(4) alignment measurement is carried out, carries out alignment measurement using first mirror surface of the frist theodolite (9) to benchmark prism square (8)；First warp
Latitude instrument (9) is mutually taken aim at second theodolite (10), the normal and outline border shaft end plane mirror of the first mirror surface of calculating benchmark prism square (8)
(4) angle；Adjustment benchmark prism square (8) Installation posture makes the normal and outline border shaft end plane mirror (4) normal of its first mirror surface
It is overlapped；
Step 202: scanner (2) is locked in zero-bit；
Step 203: the position of mobile frist theodolite (9) and second theodolite (10), using second theodolite (10) to inside casing
Shaft end plane mirror (5) carries out alignment measurement, is collimated using second mirror surface of the frist theodolite (9) to benchmark prism square (8)
Measurement；Frist theodolite (9) is mutually taken aim at second theodolite (10), the normal of the second mirror surface of calculating benchmark prism square (8) with it is interior
The angle of frame shaft end plane mirror (5)；Adjustment benchmark prism square (8) Installation posture holds the normal of its second mirror surface with inner axis level with both hands
Mirror (5) normal in face is overlapped.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111044017A (en) * | 2019-11-25 | 2020-04-21 | 天津津航技术物理研究所 | External orientation element calibration and complete machine assembly method for large-field-of-view aerial scanner |
| CN112197790B (en) * | 2020-09-10 | 2023-03-07 | 天津津航技术物理研究所 | Geometric precision calibration method for airborne high-precision geographical indication photoelectric turret |
| CN113093357B (en) * | 2021-04-20 | 2022-04-26 | 中国科学院长春光学精密机械与物理研究所 | Rapid compensation mirror alignment method for aerial camera |
| CN113324514B (en) * | 2021-05-21 | 2022-02-11 | 安徽创谱仪器科技有限公司 | Rotating shaft debugging method and debugging assembly |
| CN113587845B (en) * | 2021-07-29 | 2022-07-26 | 中国科学院长春光学精密机械与物理研究所 | Large-aperture lens contour detection device and detection method |
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